RESUME

Perform a wide range of duties in developing an autonomous underwater vehicle.

Developing control software primarily in python, with inter-process communication managed by ROS2.

Adapting an underwater simulation environment based on Gazebo. This included sensor simulation, vehicle world tuning, and mission planning. Primarily used to test high-level software updates such as mode and mission manager changes, navigation changes, etc.

Working on developing drivers for and integrating many sensors and actuators, including DVL, IMU/INS, motor controllers, environment sensors, depth sensors, stereo cameras, radio, GNSS, and sonar.

Running an underwater testing program based on deployments into the Great Lakes in Canada. This involves test planning, managing software deployments to ensure timely delivery, logistics planning for deployment days and post-deployment task assignment.

Train and manage junior staff.

Developing a complete CI/CD system from scratch, utilising Debian packages, Docker and QEMU architecture emulation and GitLab CI. The system includes automated integration and unit testing.

Manage the continuing challenges of a highly complex system, including developing logging systems, data storage, middleware tuning and testing, visualisation and UI.​

Developed a CUDA compatible environment and deployed to Jetson Orins, based on Jetpack 6.